Abstract
The problem of state and unknown inputs estimation for time-varying nonlinear Lipschitz systems is solving. Methods are proposed to synthesize state and unknown inputs observers that provide finite time boundedness of estimation error with respect to the given sets. In this case the gain of observer depends on time and is determined on the basis of a numerical solution of optimization problem with differential linear matrix inequalities or a numerical solution of the corresponding matrix comparison system. The results are illustrated by the example of a robot manipulator with a DC motor and an elastic links connection.
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